Build Your Robot (Advanced)

Advanced robotics build guides for experienced makers. Projects include multi-DOF robotic arms with Bluetooth control, mobile robot platforms with integrated manipulators, and advanced autonomous navigation systems using multiple sensors.

MoveIt 2 on a Real Robot Arm: ros2_control, Inverse Kinematics and a URDF That Matches the Hardware (OmArm One Part 3)

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The real OmArm One and its RViz model in the same pose, with the interactive marker on the gripper

MoveIt 2 on a real robot arm with ROS 2 Jazzy: audit the CAD export against the built arm, set up ros2_control, derive the inverse kinematics, build the MoveIt package with the Setup Assistant and drive an ESP32 arm over one USB cable.

From Fusion 360 to a ROS 2 Digital Twin: URDF, RViz and Gazebo That Match the Real Arm (OmArm One Part 2)

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The real 3D printed OmArm One robot arm on a workbench beside the same arm rendered in RViz, both in the same pose

Export a URDF from Fusion 360, audit it, correct joint directions, zeros and limits so the model matches the real OmArm One, and run it in RViz and Gazebo Harmonic. Part 2 of the OmArm One series, for ROS 2 Jazzy.

Drive a 3D Printed Robot Arm with a PS3 Controller: ESP32, Bluetooth, No PC (OmArm One Part 1.5)

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A DualShock 3 controller held in one hand with the 3D printed OmArm One robot arm behind it holding an orange cube

Pair a PS3 controller to an ESP32 with Bluepad32 and drive a 3D printed 7-DOF (6+1 gripper) robot arm: velocity sticks, four speed levels, a recorded pose sequence and a latching stop, with no PC in the loop.

OmArm One: Build a 3D Printed 7-DOF Robot Arm on Real Ball Bearings (Part 1)

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OmArm One, a 6-joint printed arm with a parallel-jaw gripper, rendered from the CAD assembly

Build a 3D printed robot arm with 7 DOF on real ball bearings: 485 mm reach, 200 g payload, full BOM, 16 assembly animations and ESP32 web control.

MoveIt 2 Tutorial: Motion Planning and Real Robot Control for a 6-DOF Arm

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OmArm Zero robot arm with MoveIt 2 motion planning visualization in RViz

Part 3 of the OmArm Zero series: set up MoveIt 2 for the 6-DOF (5+1 gripper) arm, plan collision-free motions in RViz and execute them on the real ESP32 arm over a serial bridge.

OmArm Zero: Build a 6-DOF (5+1 Gripper) Robotic Arm with ESP32 Web Control

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OmArm Zero ESP32 robotic arm with browser-based web control interface

Build OmArm Zero, a 6-DOF (5+1 gripper) robotic arm with ESP32 WiFi control. Complete build guide with 3D printing files, wiring diagrams, firmware, and a browser-based control interface. 303 mm reach, 100 g payload (150 g max with the shoulder spring), under $50.

OmObiArm: Building a Mobile Robot with an Integrated Robotic Arm Using Arduino and Bluetooth Control

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Mobile robot arm OmObiArm with an orange gripper and four wheels on a white chassis, Bluetooth-controlled and designed using Arduino.

Build OmObiArm, a DIY Bluetooth-controlled mobile robot arm powered by Arduino Mega, HC-05, Adafruit Motor Shield, and PCA9685 servo driver. Complete tutorial covering 3D design, assembly, wiring, Arduino code, MIT App Inventor app, calibration, troubleshooting, and FAQ.

DIY 6-DOF Robotic Arm with Bluetooth Control: Complete Build Guide

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Upgrade the potentiometer-controlled 3D printed robotic arm to Bluetooth control with an HC-05 module, an Android app made in MIT App Inventor, an Arduino Uno and a PCA9685 servo driver. The arm stores up to 10 poses and plays them back once or in a loop.